Operation Modes - Omron C200H-MC221 Operation Manual

Operation Modes

Trapezoidal Curve
S Curve
5-7 Operation Modes
Stop Mode
42
With the trapezoidal curve, acceleration is constant during the acceleration time
and deceleration time.
Speed
Acceleration
time
With the S curve, acceleration during the acceleration time and deceleration
time changes with time.
Speed
Acceleration
time
Note If the acceleration time or the deceleration time is the same, the maximum accel-
eration in the S curve is 1.5 times that in the trapezoidal curve. Therefore, when
using a program set for a trapezoidal curve for an S curve, the acceleration and
deceleration times set for the trapezoidal curve must be multiplied by 1.5. The
maximum acceleration in the S curve will then fall within the acceleration set for
the trapezoidal curve, allowing the motor to be driven smoothly.
Two modes, a stop mode and a pass mode, are available for determining move-
ments from one operation to another when executing continuous positioning.
This mode is designated in the control program created in the G language.
Note Refer to the MC Unit Operation Manual: Details to designate the operation mode
in the G language.
If the stop mode is specified for continuous positioning operations, one opera-
tion is followed by the subsequent operation after completely finishing the first
positioning operation.
The following illustration shows changes in the time, speed, and pulses when
the axis is controlled as shown below.
Constant
Deceleration
speed time time
Constant
Deceleration
speed time time
Section 5-7
Time
Time